NNP STM Generic Remote Module
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def.h
Go to the documentation of this file.
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#ifndef INC_DEF_H_
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#define INC_DEF_H_
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#include "
config.h
"
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#define OD_SUCCESSFUL 0x00000000
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#define OD_READ_NOT_ALLOWED 0x06010001
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#define OD_WRITE_NOT_ALLOWED 0x06010002
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#define OD_NO_SUCH_OBJECT 0x06020000
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#define OD_NOT_MAPPABLE 0x06040041
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#define OD_LENGTH_DATA_INVALID 0x06070010
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#define OD_NO_SUCH_SUBINDEX 0x06090011
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#define OD_VALUE_RANGE_EXCEEDED 0x06090030
/* Value range test result */
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#define OD_VALUE_TOO_LOW 0x06090031
/* Value range test result */
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#define OD_VALUE_TOO_HIGH 0x06090032
/* Value range test result */
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/* Others SDO abort codes
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*/
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#define SDOABT_TOGGLE_NOT_ALTERNED 0x05030000
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#define SDOABT_TIMED_OUT 0x05040000
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#define SDOABT_OUT_OF_MEMORY 0x05040005
/* Size data exceed SDO_MAX_LENGTH_TRANSFERT */
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#define SDOABT_GENERAL_ERROR 0x08000000
/* Error size of SDO message */
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#define SDOABT_LOCAL_CTRL_ERROR 0x08000021
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#define SDOABT_APP_TIMEOUT 0x08000040
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/******************** CONSTANTS ****************/
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/* Should not be modified */
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#define REQUEST 1
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#define NOT_A_REQUEST 0
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/* Misc constants */
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/* -------------- */
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/* Should not be modified */
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#define Rx 0
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#define Tx 1
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#ifndef TRUE
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#define TRUE 1
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#endif
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#ifndef FALSE
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#define FALSE 0
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#endif
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#define ERR_NOERROR 0
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#define SDO_RESET 0x0
/* Transmission not started. Init state. */
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#define SDO_FINISHED 0x1
/* data are available */
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#define SDO_ABORTED_RCV 0x80
/* Received an abort message. Data not available */
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#define SDO_ABORTED_INTERNAL 0x85
/* Aborted but not because of an abort message (Timeout) */
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#define SDO_DOWNLOAD_IN_PROGRESS 0x2
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#define SDO_UPLOAD_IN_PROGRESS 0x3
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/* Status of the node during the SDO transfer : */
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#define SDO_SERVER 0x1
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#define SDO_CLIENT 0x2
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#define SDO_UNKNOWN 0x3
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/* SDOrx ccs: client command specifier */
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#define DOWNLOAD_SEGMENT_REQUEST 0
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#define INITIATE_DOWNLOAD_REQUEST 1
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#define INITIATE_UPLOAD_REQUEST 2
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#define UPLOAD_SEGMENT_REQUEST 3
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#define ABORT_TRANSFER_REQUEST 4
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/* SDOtx scs: server command specifier */
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#define UPLOAD_SEGMENT_RESPONSE 0
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#define DOWNLOAD_SEGMENT_RESPONSE 1
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#define INITIATE_DOWNLOAD_RESPONSE 3
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#define INITIATE_UPLOAD_RESPONSE 2
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#define ABORT_TRANSFER_REQUEST 4
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/* Function Codes
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---------------
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*/
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#define NMT 0x0
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#define SYNC 0x1
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#define BOOT 0x2
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#define PDO1tx 0x3
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#define PDO1rx 0x4
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#define PDO2tx 0x5
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#define PDO2rx 0x6
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#define PDO3tx 0x7
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#define PDO3rx 0x8
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#define PDO4tx 0x9
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#define PDO4rx 0xA
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#define SDOtx 0xB
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#define SDOrx 0xC
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#define NODE_GUARD 0xE
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#define LSS 0xF
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/* NMT Command Specifier, implemented by a master device */
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/* ------------------------------------------------------------- */
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/* Broadcast Network command */
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#define NMT_Start_Nodes 0x01
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#define NMT_Stop_Nodes 0x02
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#define NMT_Enter_Patient_Operation 0x03
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#define NMT_Enter_X_Manual 0x04
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#define NMT_Enter_Y_Manual 0x05
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#define NMT_Enter_Stop_Stim 0x06
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#define NMT_Enter_Wait_Mode 0x07
/* Command to return to waiting for next */
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#define NMT_Enter_Patient_Manual 0x08
/* corresponds to 'Test Patient Mode ' */
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#define NMT_Enter_Produce_X_Manual 0x09
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#define NMT_Do_Save_Cmd 0x0A
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#define NMT_Do_Restore_Cmd 0x0B
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#define NMT_Enter_Record_X 0x0C
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#define NMT_Net_PDO_On 0x0D
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#define NMT_Net_PDO_Off 0x0E
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/* Broadcast Network management */
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#define NMT_Return_Node_Table 0x10
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#define NMT_Return_Single_Node 0x11
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/* Group Management */
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#define NMT_Group_On 0x20
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#define NMT_Group_Off 0x21
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#define NMT_All_Groups_Off 0x22
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/* Local Node command */
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#define NMT_Reset_Node 0x81
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#define NMT_Reset_Comunication 0x82
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#define NMT_Enter_Bootloader 0x83
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#define NMT_Start_Sync 0x84
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#define NMT_Stop_Sync 0x85
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#define NMT_Start_PDO 0x86
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#define NMT_Stop_PDO 0x87
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#define NMT_Set_RTC 0x88
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#define NMT_Set_Alarm 0x89
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#define NMT_Reset_Watchdog 0x8A
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#define NMT_Radio_WOR_ON 0x8B
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#define NMT_Radio_WOR_OFF 0x8C
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#define NMT_Run_Script 0x8D
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#define NMT_Enable_Script 0x8E
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#define NMT_Disable_Script 0x8F
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#define NMT_Erase_Serial_Eprom 0x90
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#define NMT_Reset_Block_Counter 0x91
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#define NMT_Radio_Address 0x92
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#define NMT_Wake_Remote_Modules 0x93
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#define NMT_WOR_Start_POLL 0x94
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#define NMT_Network_On 0x95
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#define NMT_Network_Off 0x96
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#define NMT_Halt_RTC 0x97
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#define NMT_Clear_CAN_Errors 0x98
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#define NMT_Set_Radio_Power 0x99
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#define NMT_Init_NV_Memory 0x9A
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#define NMT_Init_CAN 0x9B
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#define NMT_Reset_Radio_Counters 0x9C
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#define NMT_Reset_OD_Defaults 0x9D
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#define NMT_Reset_Module 0x9E
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#define NMT_Enter_Low_Power 0x9F
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#define NMT_Start_SDO_Graph 0xA1
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#define NMT_Stop_SDO_Graph 0xA2
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#define NMT_Start_HS_Graph 0xA3
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#define NMT_Stop_HS_Graph 0xA4
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/* Local Node command (module implementation) */
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#define NMT_Set_IMU_Mode 0xC3
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#define LSS_RESET 0x0
/* Transmission not started. Init state. */
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#define LSS_FINISHED 0x1
/* data are available */
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#define LSS_ABORTED_INTERNAL 0x2
/* Aborted but not because of an abort message. */
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#define LSS_TRANS_IN_PROGRESS 0x3
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/* constantes used in the different state machines */
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/* ----------------------------------------------- */
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/* Must not be modified -- used in PDO.c */
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#define state1 0x01
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#define state2 0x02
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#define state3 0x03
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#define state4 0x04
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#define state5 0x05
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#define state6 0x06
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#define state7 0x07
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#define state8 0x08
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#define state9 0x09
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#define state10 0x0A
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#define state11 0x0B
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#endif
/* INC_DEF_H_ */
config.h
Core
Inc
def.h
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